| namespace frc971.controls; |
| |
| // This provides a minimal output from the localizer that can be forwarded to |
| // the roborio and used for corrections to its (simpler) localizer. |
| |
| table LocalizerOutput { |
| // Timestamp (on the source node) that this sample corresponds with. This |
| // may be older than the sent time to account for delays in sensor readings. |
| monotonic_timestamp_ns:int64 (id: 0); |
| // Current x/y position estimate, in meters. |
| x:double (id: 1); |
| y:double (id: 2); |
| // Current heading, in radians. |
| theta:double (id: 3); |
| } |
| |
| root_type LocalizerOutput; |